{"id":"https://openalex.org/W4405305919","doi":"https://doi.org/10.1109/indin58382.2024.10774423","title":"MPC-Based Trajectory Tracking Control for Independent Drive Vehicle with Differential Steering","display_name":"MPC-Based Trajectory Tracking Control for Independent Drive Vehicle with Differential Steering","publication_year":2024,"publication_date":"2024-08-18","ids":{"openalex":"https://openalex.org/W4405305919","doi":"https://doi.org/10.1109/indin58382.2024.10774423"},"language":"en","primary_location":{"id":"doi:10.1109/indin58382.2024.10774423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin58382.2024.10774423","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 22nd International Conference on Industrial Informatics (INDIN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101756761","display_name":"Yifan Song","orcid":"https://orcid.org/0000-0002-1621-9555"},"institutions":[{"id":"https://openalex.org/I5343935","display_name":"Guilin University of Electronic Technology","ror":"https://ror.org/05arjae42","country_code":"CN","type":"education","lineage":["https://openalex.org/I5343935"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yifan Song","raw_affiliation_strings":["School of Mechanical and Electrical Engineering Guilin University of Electronic Technology,Guilin,China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering Guilin University of Electronic Technology,Guilin,China","institution_ids":["https://openalex.org/I5343935"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101472727","display_name":"Hui Jing","orcid":"https://orcid.org/0000-0002-9470-6762"},"institutions":[{"id":"https://openalex.org/I5343935","display_name":"Guilin University of Electronic Technology","ror":"https://ror.org/05arjae42","country_code":"CN","type":"education","lineage":["https://openalex.org/I5343935"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Jing","raw_affiliation_strings":["School of Mechanical and Electrical Engineering Guilin University of Electronic Technology,Guilin,China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering Guilin University of Electronic Technology,Guilin,China","institution_ids":["https://openalex.org/I5343935"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100741937","display_name":"Junhua Liu","orcid":"https://orcid.org/0000-0002-2492-8124"},"institutions":[{"id":"https://openalex.org/I5343935","display_name":"Guilin University of Electronic Technology","ror":"https://ror.org/05arjae42","country_code":"CN","type":"education","lineage":["https://openalex.org/I5343935"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junhua Liu","raw_affiliation_strings":["School of Mechanical and Electrical Engineering Guilin University of Electronic Technology,Guilin,China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering Guilin University of Electronic Technology,Guilin,China","institution_ids":["https://openalex.org/I5343935"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077441404","display_name":"Huanqin Feng","orcid":"https://orcid.org/0000-0001-8235-976X"},"institutions":[{"id":"https://openalex.org/I5343935","display_name":"Guilin University of Electronic Technology","ror":"https://ror.org/05arjae42","country_code":"CN","type":"education","lineage":["https://openalex.org/I5343935"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huanqin Feng","raw_affiliation_strings":["School of Mechanical and Electrical Engineering Guilin University of Electronic Technology,Guilin,China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering Guilin University of Electronic Technology,Guilin,China","institution_ids":["https://openalex.org/I5343935"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004449918","display_name":"Zishan Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I5343935","display_name":"Guilin University of Electronic Technology","ror":"https://ror.org/05arjae42","country_code":"CN","type":"education","lineage":["https://openalex.org/I5343935"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zishan Lin","raw_affiliation_strings":["School of Mechanical and Electrical Engineering Guilin University of Electronic Technology,Guilin,China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering Guilin University of Electronic Technology,Guilin,China","institution_ids":["https://openalex.org/I5343935"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100355322","display_name":"Xiaogang Li","orcid":"https://orcid.org/0000-0001-9255-7559"},"institutions":[{"id":"https://openalex.org/I5343935","display_name":"Guilin University of Electronic Technology","ror":"https://ror.org/05arjae42","country_code":"CN","type":"education","lineage":["https://openalex.org/I5343935"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Li","raw_affiliation_strings":["School of Mechanical and Electrical Engineering Guilin University of Electronic Technology,Guilin,China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering Guilin University of Electronic Technology,Guilin,China","institution_ids":["https://openalex.org/I5343935"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101756761"],"corresponding_institution_ids":["https://openalex.org/I5343935"],"apc_list":null,"apc_paid":null,"fwci":0.6989,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.73019494,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14474","display_name":"Industrial Technology and Control Systems","score":0.9614999890327454,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T14474","display_name":"Industrial Technology and Control Systems","score":0.9614999890327454,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9458000063896179,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.9401999711990356,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8182344436645508},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6298252940177917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5557877421379089},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5554820895195007},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.5473017692565918},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5159304738044739},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4532542824745178},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44030898809432983},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.41061434149742126},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.24525657296180725},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24495923519134521},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19843053817749023},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08892416954040527},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08871576189994812},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.0738864541053772}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8182344436645508},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6298252940177917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5557877421379089},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5554820895195007},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.5473017692565918},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5159304738044739},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4532542824745178},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44030898809432983},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.41061434149742126},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.24525657296180725},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24495923519134521},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19843053817749023},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08892416954040527},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08871576189994812},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0738864541053772},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/indin58382.2024.10774423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin58382.2024.10774423","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 22nd International Conference on Industrial Informatics (INDIN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G4360682922","display_name":null,"funder_award_id":"52262052","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W2045813086","https://openalex.org/W2148853660","https://openalex.org/W2172089853","https://openalex.org/W3065535454","https://openalex.org/W3108013445","https://openalex.org/W4200396996","https://openalex.org/W4226398542"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W128654086","https://openalex.org/W2145006118"],"abstract_inverted_index":{"For":[0],"the":[1,38,43,50,55,58,66,73,77,91,97,106,109,115,117,121,132,149,157],"four-wheel":[2],"independent":[3],"drive":[4,92],"electric":[5],"vehicle":[6,32,51,158],"differential":[7,30],"steering":[8,31],"trajectory":[9,18,45,128,151,165,173],"tracking":[10,19,86,129,152,166],"problem,":[11],"a":[12,25,137,176],"model":[13,34],"predictive":[14],"control":[15,20,74,87,156],"(MPC)":[16],"based":[17,48],"method":[21],"is":[22,35,70,88,94,134],"designed.":[23],"Firstly,":[24],"two":[26],"degree":[27],"of":[28,108,141,180],"freedom":[29],"kinematic":[33,52],"established,":[36],"and":[37,61,65,90,143,167],"wheel":[39,63,68,84,101,118],"speeds":[40,64,119],"corresponding":[41],"to":[42,126,159],"target":[44],"are":[46,123],"calculated":[47],"on":[49],"model.":[53],"Then,":[54],"difference":[56],"between":[57],"actual":[59],"inner":[60],"outer":[62],"reference":[67],"speed":[69,85,102,107],"taken":[71],"as":[72],"error.":[75],"Through":[76],"upper-level":[78],"MPC":[79,122],"(Model":[80],"Predictive":[81],"Control)":[82],"controller,":[83],"performed,":[89],"torque":[93],"outputted":[95],"by":[96],"lower-level":[98],"PI":[99],"(Proportional-Integral)":[100],"controller.":[103],"By":[104],"limiting":[105],"wheels":[110],"whose":[111],"slip":[112],"ratio":[113],"exceeds":[114],"threshold,":[116],"in":[120],"dynamically":[124],"constrained":[125],"improve":[127],"accuracy.":[130],"Finally,":[131],"algorithm":[133],"validated":[135],"through":[136],"joint":[138],"simulation":[139],"platform":[140],"Carsim":[142],"Simulink.":[144],"Simulation":[145],"results":[146],"show":[147],"that":[148],"designed":[150],"controller":[153],"can":[154],"effectively":[155],"complete":[160],"medium-speed":[161],"(40":[162],"km/h)":[163,170],"lane-changing":[164],"low-speed":[168],"(10":[169],"small-radius":[171],"(10m)":[172],"tracking,":[174],"with":[175],"maximum":[177],"lateral":[178],"error":[179],"0.17m.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}